A real-time underwater object detection algorithm for multi-beam forward looking sonar

Enric Galceran; Vladimir Djapic; Marc Carreras; David P. Williams

doi:10.3182/20120410-3-pt-4028.00051

A real-time underwater object detection algorithm for multi-beam forward looking sonar

Enric Galceran, Vladimir Djapic, Marc Carreras, David P. Williams

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

64 Scopus citations

Abstract

A novel algorithm for the detection of underwater man-made objects in forward-looking sonar imagery is proposed. The algorithm takes advantage of the integral-image representation to quickly compute features, and progressively reduces the computational load by working on smaller portions of the image along the detection process phases. By adhering to the proposed scheme, real-time detection on sonar data onboard an autonomous vehicle is made possible. The proposed method does not require training data, as it dynamically takes into account environmental characteristics of the sensed sonar data. The proposed approach has been implemented and integrated into the software system of the Gemellina autonomous surface vehicle, and is able to run in real time. The validity of the proposed approach is demonstrated on real experiments carried out at sea with the Gemellina autonomous surface vehicle.

Original language	English (US)
Title of host publication	IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Publisher	IFAC Secretariat
Pages	306-311
Number of pages	6
Edition	PART 1
ISBN (Print)	9783902823199
DOIs	https://doi.org/10.3182/20120410-3-pt-4028.00051
State	Published - 2012
Event	3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012 - Porto, Portugal Duration: Apr 10 2012 → Apr 12 2012

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	3
ISSN (Print)	1474-6670

Conference

Conference	3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012
Country/Territory	Portugal
City	Porto
Period	4/10/12 → 4/12/12

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.3182/20120410-3-pt-4028.00051

Cite this

Galceran, E., Djapic, V., Carreras, M., & Williams, D. P. (2012). A real-time underwater object detection algorithm for multi-beam forward looking sonar. In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012 (PART 1 ed., pp. 306-311). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 3, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20120410-3-pt-4028.00051

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title = "A real-time underwater object detection algorithm for multi-beam forward looking sonar",

abstract = "A novel algorithm for the detection of underwater man-made objects in forward-looking sonar imagery is proposed. The algorithm takes advantage of the integral-image representation to quickly compute features, and progressively reduces the computational load by working on smaller portions of the image along the detection process phases. By adhering to the proposed scheme, real-time detection on sonar data onboard an autonomous vehicle is made possible. The proposed method does not require training data, as it dynamically takes into account environmental characteristics of the sensed sonar data. The proposed approach has been implemented and integrated into the software system of the Gemellina autonomous surface vehicle, and is able to run in real time. The validity of the proposed approach is demonstrated on real experiments carried out at sea with the Gemellina autonomous surface vehicle.",

author = "Enric Galceran and Vladimir Djapic and Marc Carreras and Williams, {David P.}",

note = "Funding Information: ★ This research was sponsored by the Spanish government (DPI2011-27977-C03-02) and the TRIDENT EU FP7-Project under the Grant agreement No: ICT-248497.; 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012 ; Conference date: 10-04-2012 Through 12-04-2012",

year = "2012",

doi = "10.3182/20120410-3-pt-4028.00051",

language = "English (US)",

isbn = "9783902823199",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

publisher = "IFAC Secretariat",

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}

Galceran, E, Djapic, V, Carreras, M & Williams, DP 2012, A real-time underwater object detection algorithm for multi-beam forward looking sonar. in IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 3, IFAC Secretariat, pp. 306-311, 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012, Porto, Portugal, 4/10/12. https://doi.org/10.3182/20120410-3-pt-4028.00051

A real-time underwater object detection algorithm for multi-beam forward looking sonar. / Galceran, Enric; Djapic, Vladimir; Carreras, Marc et al.
IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012. PART 1. ed. IFAC Secretariat, 2012. p. 306-311 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 3, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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A real-time underwater object detection algorithm for multi-beam forward looking sonar

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